A Novel Robotic Suturing System for Flexible Endoscopic Surgery

Cao, Lin; Li, Xiaoguo; Phan, Phuoc Thien; Tiong, Anthony Meng Huat; Liu, Jiajun; Phee, Soo Jay

doi:10.1109/icra.2019.8794247

Cited by 27 publications

(37 citation statements)

References 27 publications

(46 reference statements)

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“…Moreover, this keeps the regulatory process relatively short, reducing the path to animal and/or human trials. Some robotics systems have been introduced, like the telemanipulated robotic assistant of Zorn et al ( 2018 ) or the robotic suturing system of Cao et al ( 2019 ). However, these systems require to make considerable changes to the commercialized instrument or endoscope.…”

Section: Introductionmentioning

confidence: 99%

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

et al. 2019

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The instruments currently used by surgeons for in utero treatment of the twin-to-twin transfusion syndrome (TTTS) are rigid or semi-rigid. Their poor dexterity makes this surgical intervention risky and the surgeon's work very complex. This paper proposes the design, assembly and quantitative evaluation of an add-on system intended to be placed on a commercialized cable-driven flexible endoscope. The add-on system is lightweight and easily exchangeable thanks to the McKibben muscle actuators embedded in its system. The combination of the flexible endoscope and the new add-on unit results in an easy controllable flexible instrument with great potential use in TTTS treatment, and especially for regions that are hard to reach with conventional instruments. The fetoscope has a precision of 7.4% over its entire bending range and allows to decrease the maximum planar force on the body wall of 6.15% compared to the original endoscope. The add-on control system also allows a more stable and precise actuation of the endoscope flexible tip.

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Section: Introductionmentioning

confidence: 99%

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

et al. 2019

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“…The hand interface is the Omega. 7 haptic interface from Force Dimensions Inc., Switzerland, which is commonly used as a master device to teleoperate robotic arms [16], [17]. The interface is controlled through motion of its handle, where the position of the hands x hi and y hi (workspace Chapter 7 Tri-manipulation: An evaluation of human performance in 3-handed teleoperation Chapter 7 Tri-manipulation: An evaluation of human performance in 3-handed teleoperation…”

Section: Discussionmentioning

confidence: 99%

“…Another example is in endoscopic robotic surgery, as shown in Fig. 1-1, where systems such as MASTER [11], ViaCath [12], enable intuitive bimanual teleoperation of the instruments but still require another trained endoscopist Chapter Introduction to assist the surgeon by directly holding and manipulating the endoscope at the patient side [13].…”

Section: Background and Motivationmentioning

confidence: 99%

“…For instance, an assistant can adjust the camera's field of view during laparoscopic surgery; in a robotic flexible endoscopic surgery, the robotic arms controlled by the surgeon can only work in a small workspace and thus an endoscopist is needed to move the endoscope which is carrying the robotic arms to adjust the working area caolin2019, [17]. The necessity to collaborate with an assistant may create issues, as surgical performance and efficiency are often limited by the communication delays and errors between the surgeon and the assistant [3].…”

Section: "Third Hand" Control In Robotic Surgerymentioning

confidence: 99%

“…However, the endoscope operation is complex and skill-demanding [26], and these systems typically require an endoscopist assisting the surgeon by directly holding and manipulating the endoscope at the patient side [13]. Robotized endoscopic systems such as Endoscopic Operation Robot (EOR) [23], Robotic-assisted flexible endoscope (RAFE) [24], motorized endoscope [27], and i 2 snake robot [28] facilitate the endoscope operation through teleoperation with one or two hands interfaces.…”

Section: Control Strategiesmentioning

confidence: 99%

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Development of an intuitive foot-machine interface for robotic surgery

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In robotic surgery, the surgeon controls the surgical robot through human-machine interfaces. The most common interfaces are for hands so that the surgeon can only control at most two robotic instruments at one time while three or more instruments may be needed at the same time in some procedures, e.g., robotic endoscopic/laparoscopic surgery. Current practices to these cases, i.e., having one assistant control the additional instrument, is not ideal because fine collaboration between the surgeon and the assistant is required, and delayed actions and even safety issues due to communication errors may occur. These limitations can be avoided if the surgeon could control all the tools on his/her own simultaneously. This thesis work developed a novel foot-controlled human-machine interface, enabling the surgeon to control the additional robotic surgical tool using the foot, together with the two tools that are controlled by the hands. This foot-controlled interface controls a robotic surgical instrument in continuous direction and speed based on the motion of the foot in four degrees of freedom (DoFs), i.e., foot left/right translation, forward/backward translation, lateral/medial rotation, and toe-up/down rotation. The foot force/position signals are collected through eight feedback-sensing modules of the interface surrounding the foot. Each feedback-sensing module consists of a spring and a load cell. The foot's position can be determined by the deformation of the springs which is calculated based on the forces measured by the load cells. The whole foot operation is separated into elastic and isometric modes. In the elastic mode, the springs are not fully compressed and thus the foot can move freely with reaction forces from the springs (i.e., passive force feedback); in the isometric mode, the foot's motion is limited by the boundary (some springs are fully compressed) but its force is not limited and thus can still be used for output commands. The seamless transition between the two modes provides the user with rich proprioceptive information and meanwhile enlarges input ranges that are limited only by his/her strength. The interface also features a singularityfree workspace with a neutral central home position. The weight of the foot is well supported, and the friction of the interface is minimized to limit operation fatigue.i An analytical model based on the kinematics and statics of the foot interface was derived for output command calculation; however, this model does not consider the distinct motion behaviors of different users. Therefore, a data-driven mapping approach using independent component analysis was proposed to adapt the interface to the specific user's motion pattern, which effectively reduces the deviation between users.Three studies were conducted on the developed interface: (1) Controlling of an industrial robotic arm for path-tracking and button-pressing tasks and comparison to a foot button interface. The proposed interface was about 30% faster and 60% smoother than a conventional foot butto...

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An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots

et al. 2019

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Haptic feedback for flexible endoscopic surgical robots is challenging due to space constraints for sensors and shape-dependent force hysteresis of tendon-sheath mechanisms (TSMs). This paper proposes (1) a single-axis fiber Bragg grating (FBG)-based force sensor for a TSM of a robotic arm and (2) an integrated sensor-model approach to estimate forces on other TSMs of that arm. With a robust and simple structure, a temperature-compensated sensor can be mounted on the distal sheath to measure forces applied by the TSM. This proposed sensor was integrated with a Ø4.2 mm articulated robotic arm driven by six TSMs, with a measurement error of 0.37N in this work. The measurement from the single sensor was used to identify parameters in the force-transmission models of all other TSMs in the robot, realizing a one-sensor-for-all-distal-forces measurement method. The sensor-model approach could accurately estimate the distal force with an RMSE of 0.65N. An animal study was carried out to demonstrate the sensor's feasibility in real-life surgery. The sensor-model approach presented a robust, space-saving, and cost-effective solution for haptic feedback of endoscopic robots without any assumption on the shapes of the robot.

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A Novel Robotic Suturing System for Flexible Endoscopic Surgery

Cited by 27 publications

References 27 publications

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

Development of an intuitive foot-machine interface for robotic surgery

An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots

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